Fix sbg device mag segfault #28
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Make sure that the Node is actually created, and initialise and run it similar to how the main driver node is run.
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This fixes #6, which got closed even though the changes to get the magnetometer calibration working again were not contributed back.
The initial segmentation fault was caused by the the (shared) pointer to the ROS node never being initialised. The rest of the changes bring this in line with
main.cpp.This has been tested with an Ellipse D.